201210766 — 六、發明說明： * 【發明所屬之技術領域】 本發明係有關頂吊式選擇適應性裝配機器人臂（SCara201210766 — VI. Description of the invention: * [Technical field to which the invention pertains] The present invention relates to an overhead mounting type adaptive assembly robot arm (SCara)
Selective Compliance Assembly Robot Arm)型機器人。 【先前技術】 作為一種被稱為選擇適應性裝配機器人臂型機器人的 水平多關節型產業用機器人’已知有一種從天花板面垂吊 設置的頂吊式選擇適應性裝配機器人臂型機器人（夂照例 如專利文獻1及2；)。 > (先前技術文獻） (專利文獻） [專利文獻1]日本特開2005-193347號公報 [專利文獻2]日本特開平6-262555號公報 【發明内容】 (發明所欲解決的課題） 以往，頂吊式選擇適應性裝配機器人臂型機器人係需 要於天花板面構造之下面設有裝設機器人 ° ’、 Μ ^ ^ 入用文裴面（機械 加工面）。另外，其安裝面必須相對於機器人之動作區的作 業面為平行，故存有將天花板面本身構築為與作乍 等，使天花板面構造變得複雜的問題。# t ^ 人且，由於禆從天 緊等而完成機器人之固定前，於安裝作酱^目^bQltX A…。 展作業中必須支撐機 允板面之下側往上安裝機器人’故在以安 鎖 發莖而含ίλϊ拖SS f > 151中杰*从6 ιυ_、 器人之重量 本發明係有鑑於上述問題而研發者，甘。 &目的為獲得使 322836 4 201210766 用簡易的構造，即可藉由容易的安裝作業進行設置的頂吊 - 式選擇適應性裝配機器人臂型機器人。 (解決課題的手段） 為了解決上述課題達成目的，本發明之頂吊式選擇適 應性裝配機器人臂型機器人，係具有：基座；第1臂，透 過以第1關節軸為中心的第1結合部而連結至前述基座， 且可以前述第1關節軸為中心而於水平面内轉動；第2臂， 透過以第2關節軸為中心的第2結合部而連結至前述第1 臂，且可以前述第2關節軸為中心而於水平面内轉動；作 業軸，安裝於前述第2臂；以及基座安裝部，安裝於前述 基座，用以將前述基座載置於相對於前述作業軸之動作區 位於垂直上側的安裝用構造體上。 (發明效果） 本發明之頂吊式選擇適應性裝配機器人臂型機器人係 可達到使用簡易的構造即可藉由容易的安裝作業進行設置 的效果。 【實施方式】 以下，係根據圖式詳細說明本發明之頂吊式選擇適應 性裝配機器人臂型機器人之實施形態。又，本發明並不被 限定於此實施形態。 (實施形態） 第1圖係本發明實施形態之頂吊式選擇適應性裝配機 器人臂型機器人之正面圖。頂吊式選擇適應性裝配機器人 臂型機器人1係具有：基座10、第1臂11、第2臂12、 5 322836 201210766 以及作業軸13。第1臂11係透過以第1關節軸為中心的 第1結合部14而連結至基庫10。第1臂11係以第1關節 軸為中心而可於水平面内轉動。於基座10則固定有第1臂 11之驅動用的馬達和減速機（皆未圖示）。 第2臂12係透過以第2關節軸為中心的第2結合部 15而連結於第1臂11。第2臂12係以第2關節軸為中心 而可於水平面内轉動。於第1臂11係固定有第2臂12之 驅動用的馬達（m〇t〇r)和減速機（皆未圖示）。 作業軸13係以可上下移動及旋轉的方式設置於第2臂 12之前端部。於作業轴13係安裝有進行加工物之搬送和 加工用的工具（tool)。於第2臂12係固定有作業軸13之 驅動用的馬達和減速機（皆未圖示）。 第1臂11之臂長（第1關節軸及第2關節軸間的距 離）、與第2臂12之臂長（第2關節軸及作業軸13之中心 間的距離）係設為相等。另外，第1臂u與第2臂12係藉 由使轉動面上下偏離而構成彼此不干涉的交錯過。 基座安裝部16係安裝於基座10之下面。基座安裝部 16係將基座1〇载置於2根樑2上用的板狀構件。樑 =對Γ:二=動作^位於垂直上側的安裝用構造 人臂型機器人!、:作於頂吊式選擇適應性裝配機器 彼此分離間隔而設置：早7的天花板面的場所’ 6 322836 201210766 裝部16上方的基座10位於樑2上方，較基座安裝部16下 • 方的各構成位於樑2之高度下的方式通過2根樑2之間而 設置。 第2圖為頂吊式選擇適應性裝配機器人臂型機器人的 側面圖。於第2圖所示之側面圖係顯示從第丨圖所示之狀 態使第2臂12轉動180度，而使第2臂12收納於第j臂 11之下的狀態（以下，酌稱為「收納狀態」）之一側面。於 該狀態中，頂吊式選擇適應性裝配機器人臂型機器人i係 使各構成集約於圖示的面内之左右方向例如基座安裝部16 之寬度wi的範圍内。第1臂u之臂寬及第2臂12之臂寬 皆與wi相同或較W1狹窄。又，臂寬係對於第丨臂η及第 2臂12設為垂直於臂長的方向（朝第2圖之紙面内的方向） 且包含於轉動面的方向（第2圖之左右方向）的寬度。 第3圖為基座及基座安裝部的俯視圖。於圖示的水平 面内基座安裝部16係將長邊設為W2,短邊設為^⑽>W1) 的大致長方形。基座安裝部丨6之長邊方向及短邊方向係設 為皆包含於水平方向的方向。 第4圖為對於頂吊式選擇適應性裝配機器人臂型機器 2絲進行說明的i 2 _ 2之間隔s係被設定為較 大且較W2小（W1<S<W2)。首先，如圖中上段所示於標 之長邊方向使收納狀態的第u及第2臂12的臂長 致’使頂吊式選擇適應性裝配機器人臂型機器人1 攸樑2之上側往樑2彼此之間通過。 通過樑2彼此之間至帛！結合部14之位置後，如圖中 322836 7 201210766 下段所示，將頂吊式選擇適應性裝配機器人臂型機器人i 於水平方向旋轉90度。藉由使頂吊式遂擇適應性裝配機器 人臂型機器人1旋轉’基座安裝部16之伸出部分（長邊方 向兩端）係載置於樑2上，通過2根樑2之間而設置頂吊式 選擇適應性裝配機器人臂型機器人1。如此，對於2根樑2 之間隔縮短含有第1臂11及第2臂12之部分的寬度，且 延長基座安裝部16 ’藉此，即可從樑2之上侧設置頂吊式 選擇適應性裝配機器人臂型機器人1。 又，頂吊式選擇適應性裝配機器人臂型機器人1亦< 藉由從樑2之下侧使基座1〇及基座安裝部16通過而旋 轉，而設置於樑2。藉由使收納狀態的頂吊式選擇適應性 裝配機器人臂型機器人1全體之寬度較樑2之間隔窄’頂 吊式選擇適應性裝配機器人臂型機器人丨即成為從樑2之 上侧及下侧皆可設置。 頂吊式選擇適應性裝配機器人臂裂機器人1係只要至 少第1臂11及第2臂12的臂寬較基座安裝部16中的呈伸 出部分的至少一方向之長度較短即可。此時，藉由準備較 第1臂11及第2臂12的臂寬更長，且較基座安裝部16之 長度呈更短間隔的樑2，即可從樑2上設置頂吊式選擇適 應性裝配機器人臂型機器人1。 如第3圖所示，於基座安裝部16係設有安裝用固定構 件21、以及自升（jackup)構件22。安裝用固定構件21係 將基座安裝部16固定於樑2。自升構件22係作用為用以 調整基座安裝部16之相對於由作業軸13而定的作業面之 322836 8 201210766 位置的位置調整機構。 的螺4 f用7構件21係例如具有：貫通基座安裝部16 ==;以及固定螺釘的螺帽(nut);且該等係設 = = 16的四角落。自升構件22係例如具有貫 通基座女裝部16的螺釘’且係設置在安襄用固定構件21 之附近。藉由將基座安裝部16載 #件 升構件22的鎖緊程度，而以使基座= === 表面）成為與作業面平行的方式將基座安 ^ 外，亦可藉由自升構件22之調“觀 座安裝部16之高度。 作菜面的基 頂吊式選擇適應性裝配機器人臂型機器 用基座安裝部16而可從樑2之上載置美座 ’、藉由採 業者在將基座安裝部16及基座10载“樑^安裝。作 需支撐頂吊式選擇適應性裝配機器人臂型後，即可不 而進行固定作業。 器人1之重量 丁〜心、丨工衣孤微态人臂型機器 自升構件22，而可於將基座安裝部16載置' 1藉由使 易且精密度良好地調整基座10相對於作業於襟2後’ 於不需僅以天花板面和樑2之構築來確/、面的平行度。 行度，故可以簡易的構造安裝頂吊式選=與作業面間的 人臂型機器人1。藉此，頂吊式選擇適應^應性骏配機 型機器人1可使用簡易的構造而進行藉骏配機器人 而設置。 3令易的安骏作 又，自升構件22之數量及位置係不 ”本實施形態 9 201210766 說明的情形，亦可適當加以變更。另外，位 限於為使用螺釘的自升構件22的情形，只要可=機構不 裝部16之傾斜及高度的至少-相何種構It基座安 安裝用構造體獨Μ兩根樑2之射彡^可。 體只要是能使頂吊式選擇適應性裝配機器人臂=用構造 中之至少較基座安裝部16下方的部分通過，而=，人i 裝部16的伸出部分’則可_ —種構件1 ，基座安 而言，例如亦可為具有開口的板狀構件等。、用構造體 安裝用構造體不限以設置在以每個機 域（_)為單位的作業用單元的情形。安裝用^作業區 為设置在較作業面垂直上側的任何場所。安=體亦可 可為例如安裝於複數台機器人作_作#造體亦 者，或安裝於室内之天花板面等。 天吒板面 (產業上的可利用性） 如Μ上所述，本發明之頂吊式選擇適應 臂变機器人由於可將安裝用之構造簡易化且使=機器人 易化’故適驗生H新設和增設、以、作業簡 等作業的效率化。 °人之·交換 【圖式簡單說明】 第1圖係本發明實施形態的頂吊式選擇 器人臂型機器人之正面圖。 ^駿配機 第2圖係頂吊式選擇適應性裝配機器人臂 側面圖。 ι機器人的 第3圖係基座及基座安裝部的俯視圖。 10 322836 201210766 ' 第4圖係關於頂吊式選擇適應性裝配機器人臂型機器 人的安裝之說明圖。 【主要元件符號說明】 1 頂韦式選擇適應性裝配機器人臂型機器人 2 樑 10 基座 11 第1臂 12 第2臂 13 作業軸 14 第1結合部 15 第2結合部 16 基座安裝部 21 安裝用固定構件 22 自升構件 11 322836Selective Compliance Assembly Robot Arm). [Prior Art] As a horizontal multi-joint type industrial robot called a selective adaptive assembly robot arm type robot, a top-suspended selection adaptive assembly robot arm type robot that is suspended from a ceiling surface is known (夂For example, Patent Documents 1 and 2;). (Patent Document) [Patent Document 1] JP-A-2005-193347 (Patent Document 2) Japanese Laid-Open Patent Publication No. Hei 6-262555 The top-mounted selection adaptive assembly robot arm type robot needs to be equipped with a mounting robot under the ceiling structure ° ', Μ ^ ^ into the 裴 surface (machined surface). Further, since the mounting surface must be parallel to the working surface of the operating region of the robot, there is a problem in that the ceiling surface itself is constructed to be a crucible or the like, and the ceiling surface structure is complicated. # t ^ People, because the 禆 完成 天 天 天 完成 完成 完成 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人 机器人In the exhibition work, the robot must be supported on the lower side of the machine board. Therefore, the stalk is contained in the lock and the squid is included. 151 Zhongjie* from 6 ιυ_, the weight of the person is in view of the above. The problem is the developer, Gan. & The purpose is to obtain an ergonomically configurable robotic arm type robot that allows the 322836 4 201210766 to be easily constructed with an easy-to-install installation. (Means for Solving the Problem) In order to achieve the object of the above-mentioned problems, the overhead-suspended adaptively-equipped robot arm type robot of the present invention has a base, and the first arm transmits the first combination centering on the first joint axis. The second base is coupled to the first arm, and is coupled to the first arm, and is coupled to the first arm, and is coupled to the first arm, and is coupled to the first arm, and is coupled to the first arm. The second joint shaft pivots in a horizontal plane; the working shaft is attached to the second arm; and the base mounting portion is attached to the base for placing the base on the working axis The action area is located on the vertical upper mounting structure. (Effect of the Invention) The ceiling-mounted selection adaptive assembly robot arm type robot of the present invention can achieve the effect of setting by an easy installation work with a simple structure. [Embodiment] Hereinafter, an embodiment of a ceiling-mounted type adaptively accommodating robot arm type robot of the present invention will be described in detail based on the drawings. Further, the present invention is not limited to the embodiment. (Embodiment) Fig. 1 is a front view showing a top-mounted type adaptive adaptive assembly robot arm type robot according to an embodiment of the present invention. Top-hanging type adaptive assembly robot The arm type robot 1 has a base 10, a first arm 11, a second arm 12, 5 322836 201210766, and a working shaft 13. The first arm 11 is coupled to the base 10 through the first joint portion 14 centering on the first joint axis. The first arm 11 is rotatable in the horizontal plane around the first joint axis. A motor for driving the first arm 11 and a speed reducer (all not shown) are fixed to the base 10. The second arm 12 is coupled to the first arm 11 through the second joint portion 15 centering on the second joint axis. The second arm 12 is rotatable in a horizontal plane centering on the second joint axis. A motor (m〇t〇r) for driving the second arm 12 and a speed reducer (all not shown) are fixed to the first arm 11 . The working shaft 13 is provided at the front end of the second arm 12 so as to be movable up and down and rotated. A tool for transporting and processing the workpiece is attached to the work shaft 13 . A motor for driving the working shaft 13 and a speed reducer (all not shown) are fixed to the second arm 12. The arm length of the first arm 11 (the distance between the first joint axis and the second joint axis) and the arm length of the second arm 12 (the distance between the center of the second joint shaft and the working shaft 13) are made equal. Further, the first arm u and the second arm 12 are interlaced so as not to interfere with each other by shifting the rotational surface downward. The base mounting portion 16 is attached to the underside of the base 10. The susceptor mounting portion 16 is a plate-like member for placing the susceptor 1 on the two beams 2. Beam = Γ Γ 二 二 二 二 二 二 二 二 二 二 二 二 二 二 二 二 二 二 二 动作 二 二 二 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作 动作The susceptor 10 above the mounting portion 16 is located above the beam 2, and is disposed between the two beams 2 in such a manner that the lower portions of the pedestal mounting portion 16 are located at the height of the beam 2. Figure 2 is a side view of the top-mounted selection adaptive assembly robot arm type robot. The side view shown in FIG. 2 shows a state in which the second arm 12 is rotated by 180 degrees from the state shown in the second figure, and the second arm 12 is housed under the j-th arm 11 (hereinafter, as appropriate) One side of the "storage state". In this state, the top-mounted type adaptively-fitted robot arm type robot i is configured such that the respective components are concentrated in the left-right direction in the plane of the drawing, for example, in the range of the width wi of the susceptor-mounted portion 16. The arm width of the first arm u and the arm width of the second arm 12 are both the same as wi or narrower than W1. Further, the arm width is set to the direction perpendicular to the arm length (the direction in the plane of the paper in FIG. 2) and the direction including the rotation surface (the horizontal direction in FIG. 2) of the second arm η and the second arm 12; width. Fig. 3 is a plan view of the base and the base mounting portion. The pedestal mounting portion 16 in the horizontal plane shown in the figure has a substantially rectangular shape in which the long side is W2 and the short side is ^(10) > W1). The longitudinal direction and the short-side direction of the susceptor mounting portion 系6 are all included in the horizontal direction. Fig. 4 is a view showing that the interval s of i 2 _ 2 for the top hanging type adaptively accommodating robot arm type machine is set to be larger and smaller than W2 (W1 < S < W2). First, as shown in the upper part of the figure, the arm lengths of the u-th and second arms 12 in the accommodated state in the longitudinal direction of the standard are caused to make the top-suspended type adaptively fit the robot arm type robot 1 2 passed between each other. Through the beam 2 to each other! After the position of the joint portion 14, as shown in the lower section of 322836 7 201210766, the top-suspended adaptive assembly robot arm type robot i is rotated 90 degrees in the horizontal direction. By extending the top-mounted adaptive adaptive robot arm type robot 1 'the extension portion (both ends in the longitudinal direction) of the base mounting portion 16 is placed on the beam 2 and passed between the two beams 2 Set the top hanging type to select the adaptive assembly robot arm type robot 1. In this manner, the width of the portion including the first arm 11 and the second arm 12 is shortened in the interval between the two beams 2, and the pedestal mounting portion 16' is extended, thereby allowing the top hanging type to be adapted from the upper side of the beam 2. Sexual assembly robot arm type robot 1. Further, the top-suspended type adaptively-fitted robot arm type robot 1 is also disposed on the beam 2 by rotating the base 1A and the base attaching portion 16 from the lower side of the beam 2. The width of the entire arm of the arm-type robot 1 is narrower than the width of the beam 2 by the top-suspended selection of the storage state. The top-mounted selection adaptive assembly robot arm type robot becomes the upper side and the lower side of the beam 2 Both sides can be set. The top hanging type adaptively accommodating robot arm splitting robot 1 may be such that at least the arm widths of the first arm 11 and the second arm 12 are shorter than the length of at least one of the extending portions of the susceptor mounting portion 16. At this time, by preparing the beam 2 having a longer arm width than the first arm 11 and the second arm 12 and having a shorter interval than the length of the susceptor mounting portion 16, the top hanging type can be selected from the beam 2. Adaptive assembly of the robot arm type robot 1. As shown in Fig. 3, a mounting fixing member 21 and a jackup member 22 are attached to the base attaching portion 16. The mounting fixing member 21 fixes the base mounting portion 16 to the beam 2. The self-lifting member 22 functions as a position adjusting mechanism for adjusting the position of the base mounting portion 16 with respect to the working surface of the working shaft 13 at 322836 8 201210766. The 7-member 21 of the screw 4 f has, for example, a through-base mounting portion 16 ==; and a nut for fixing the screw; and these are four corners of the ==16. The self-lifting member 22 is, for example, a screw ' having a through base pedestal portion 16 and is provided in the vicinity of the ampoule fixing member 21. By arranging the pedestal mounting portion 16 to the degree of locking of the hoisting member 22 so that the pedestal ==== surface is parallel to the working surface, the pedestal can be mounted by itself. The height of the member 22 is "the height of the seat mounting portion 16. The base top hanging type of the vegetable surface is adapted to fit the base mounting portion 16 of the robot arm type machine, and the seat can be placed from the beam 2" The operator mounts the susceptor mounting portion 16 and the susceptor 10 "beams." After supporting the top-lift type to select the adaptive assembly robot arm type, it can be fixed. The weight of the person 1 is ～ 心 心 心 心 心 心 心 心 心 心 心 心 人 人 人 人 人 人 人 人 人 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座 基座Compared with the operation after 襟2, it is not necessary to use only the construction of the ceiling surface and the beam 2 to determine the parallelism of the surface. Since the degree of travel is simple, it is possible to easily install the human arm type robot 1 between the top hanging type and the working surface. In this way, the top-suspended type of adaptive robot 1 can be set up by using a simple structure and borrowing a robot. 3, the number of the self-lifting members 22 and the position of the self-lifting member 22 are not changed as described in the embodiment 9 201210766. Further, the position is limited to the case of the self-elevating member 22 using the screw. As long as it can be used, the structure of the pedestal mounting structure is independent of the inclination of the mechanism 16 and the height of the structure of the two pedestals. The assembly robot arm = at least a portion of the structure that is lower than the portion below the base mounting portion 16, and = the extension portion of the person's mounting portion 16 can be a member 1, for example, the base can also It is a plate-shaped member which has an opening, etc. The structure for structure mounting body is not limited to the case where it is set in the unit of each machine (_). The installation work area is set in the comparative work surface. Any place on the upper side of the vertical. The body of the body can be, for example, installed in a plurality of robots, or installed on the ceiling of the room, etc. Scorpio board (industrial availability) As described above, the top hanging type selection adapting arm changing machine of the present invention Since the structure for installation can be simplified and the robot can be easily changed, the efficiency of the new work, the addition, the work, and the operation of the test H can be improved. The exchange of people and the [simple description of the drawings] The front view of the top-mounted selector human arm type robot according to the embodiment of the present invention. The second figure of the top-loading type selects the adaptive assembly robot arm side view. The third figure of the ι robot is the base and the base. Top view of the mounting section. 10 322836 201210766 ' Figure 4 is an explanatory diagram of the installation of the top-mounted selection adaptive assembly robot arm type robot. [Main component symbol description] 1 Top-dimensional selection adaptive assembly robot arm type robot 2 Beam 10 Base 11 First arm 12 Second arm 13 Working shaft 14 First joint portion 15 Second joint portion 16 Base mounting portion 21 Mounting fixing member 22 Self-lifting member 11 322836